KR20210040099A - Prevention of transmission loss of wireless and light signals through the transmissive surface due to weather conditions and operating conditions using active flow control actuators - Google Patents

Abstract

Systems and methods for cleaning optically transmissive surfaces and sensor surfaces to maintain optimal performance under various weather and environmental conditions using synthetic jet actuators. Actuators can emit a jet of water or air depending on environmental conditions and the waveform, frequency, and amplitude of the actuator can be adjusted based on particle properties and transmitted signal quality to better clean the surfaces.

Description

Prevention of transmission loss of wireless and light signals through the transmissive surface due to weather conditions and operating conditions using active flow control actuators

Cross-reference to related applications

This application claims the priority and benefit of U.S. Provisional Patent Application No. 62/711,037, filed July 27, 2018, the entire contents of which are incorporated by reference.

Field of invention

FIELD OF THE INVENTION The present invention relates generally to systems and methods for preventing wireless and light transmission losses through a transmissive surface due to environmental conditions, and in particular, by using one or more actuators to create jets of air and/or liquid to And removing any particles and environmental contaminants that may have accumulated on the permeable surface.

In recent decades, in myriad applications intended to increase human activity, light and radio waves are used, i.e. various types of sensors are used to sense objects around vehicles, and photovoltaic panels are used to generate solar energy. Significant advances have been made in harvesting energy and continuing to naturally illuminate building floors using wide surrounding curtain walls. For such applications, there is typically a surface intervening between external environmental conditions (where light or radar is received or transmitted) and an interior space or volume in which activity related to signal and radio reception or transmission occurs.

Its surface is usually transparent or translucent and is made of glass, polycarbonate, plastic or other material. In most cases, the surface is intended as a protective layer from the external environment. In some cases, the surface serves to receive and/or transmit signals such as focus, reflection, and the like.

A major concern in these applications is maintaining signal transmission through the surface under various weather conditions. Particle accumulation and contamination from dust, snow and ice across the outer portion of the surface can significantly reduce the ability of light and radar signals to pass through the surface. In addition, the formation of a water film across the surface during precipitation can aggravate the signal, so that the signal is no longer reliable and the data that the signal carries is a must for vision sensors such as object detection to ensure vehicle safety. It is no longer enough to perform the functions.

One industry where the maintenance of clean surfaces is important is the automotive industry where it is important to detect objects (either by humans or devices/sensors) in order to control the vehicle and navigate safely. Automotive radar sensors were first employed in the 1980s for use in cruise control systems. The use of automotive radar sensors has recently spread to AICC (Autonomous Intelligent Cruise Control) and CM (Collision Mitigation) systems to improve vehicle safety, efficiency, and economics, including micro- and millimeter-wave radars. This has resulted in the development of sensors of various types of dragons.

Similar to millimeter-wave radar sensors, infrared based sensors such as LiDAR are also employed for environmental awareness, especially for Adaptive Cruise Control (ACC) systems by taking into account the required performance and feasibility. Became. Both infrared-based and millimeter-wave radar sensors provide range, speed and angle information for targets in front of the vehicle. It is used with vehicle dynamics data to correlate the projected vehicle path and detected obstacle positions. The resulting data is used to control the vehicle throttle, brakes, steering and vehicle transmission. ACC systems adapt the vehicle speed according to the speed of the vehicle ahead in order to maintain a constant distance between the two vehicles. The driver sets the desired maximum speed and minimum separation. Both sensor systems can also be used to locate and track multiple targets on the road ahead, to predict traffic conditions in the driving lane. Currently, the ACC system application of millimeter-wave and infrared based sensors is marketed as a comfort and convenience option rather than a safety option. There are still safety risks associated with its use in automobiles. Due to the decisive impact of radar and LiDAR sensors on ACC systems, it is important to perform accurate verification and calibration of the system at various stages of development, manufacturing, and installation.

The new generation of systems uses multiple sensors to extend the ACC system to city driving or stop-and-go traffic, pre-collision sensing, and collision warning and avoidance systems (CWAS). These are typically short-range applications and various sensor types can be used including infrared, vision, ultrasonic, and microwave radar. For most applications beyond highway ACC systems, multiple sensor systems should be used with long range ACC LiDAR or millimeter-wave radar sensors. The combination of technologies is the key to achieving high-level environmental awareness and advancing the goal of autonomous driving.

Most of these future safety-oriented applications are associated with increasing demands for greater performance and reliability of environmentally aware sensors in certain traffic and weather scenarios.

Unfortunately, severe weather conditions present a challenge to the successful operation of most sensors required for CWAS. Under bad weather conditions, electromagnetic waves transmitted and received by CWAS interact with substances and hydrometeors (particles of water in solid or liquid form in the atmosphere) that accumulate on the surface of the sensor or its protective covering. Examples of atmospheric water bodies include, but are not limited to, mist, rain, sleet, hail, snow, hale, and fog. Exemplary expected materials on the surface of the sensor or on its protective covering include, but are not limited to, dry snow and water films, as well as sand and dirt, which may be formed through condensation, collision and adhesion of water particles.

Different types of water particles (mist, rain, sleet, hail, snow, hale and fog) affect infrared and millimeter-wave propagation not equally. The reason is that the absorption and total scattering cross-sectional areas of water particles depend on the particle density and range as well as the relationship between particle size and wavelength.

Almost all sizes of these water particles are larger than the infrared wavelengths. They may result in maximum scattering cross-sections in the infrared and visible ranges. This results in a very large attenuation and backscattered signal, especially in dense water particles such as heavy rain and fog droplets. This not only limits the maximum detection range to those of a similar human eye, but also degrades the performance of the LiDAR sensor by increasing processes, and a significant amount of memory and computational throughput to filter out irrelevant detections due to water particles. Occupy.

In the millimeter-wave range, only raindrops with rainfall intensities greater than 4 mm can obtain maximum absorption and total scattering cross-sectional areas. This can introduce strong non-attenuation and backscatter. The effects of snow and hale are difficult to accurately assess because their water content varies considerably. In general, ice loses much less than the same mass of water, and the millimeter-wave attenuation of dry snow is thus negligible. However, if the snow is wet, the attenuation increases considerably but is usually expected to be less than the normal ratio.

In the case of a water film on the surface of an antenna or its radome (i.e., lenses, antennas, or covers), especially in the case of millimeter waves, the smaller the degree of moisture on the surface of the antenna lens or radome, the worse the wave propagation is. Insane and millimeter-wave radar motion can be introduced to stop.

Dusty substances such as dry snow, sand and dirt on LiDAR lenses may also impair the measurement sensitivity due to attenuation and diffraction phenomena.

Also, in cases where the transmissive surface allows the backup camera to show the driver the surroundings, a surface that is too blocked by particles can cause the camera to malfunction, triggering a warning and forcibly stopping the vehicle. When a vehicle travels at low speeds as in urban areas and is exposed to rain, cameras as well as other sensors cannot rely on the airflow from vehicle motion to sweep the water.

There are techniques in the prior art to eliminate particle accumulation on these surfaces, but they all have limitations. For example, removal of snow by thermal means (i.e., by the use of a heater) generally affects the transmission properties of the permeable surface material, its lifespan, cleaning system cost, vehicle energy consumption profile, and even passenger safety. May be. By treating the surface to make it non-wetting or water repellent, the signal loss due to the presence of the water film may be significantly reduced. This method has shown positive results when applied to microwave airport surveillance radars and ground radars for satellite communications. However, this method has disadvantages when applied to applications such as automotive applications using millimeter-wave radar. In such an environment, rainwater may not be expected to form a uniform film due to the aerodynamic force applied while the vehicle is in operation, but in narrow rivullets, many small streaks quickly overflow the antenna and radome surfaces. To form. In addition, frozen snow and sleet may easily cause moist and/or smudged surfaces on the antenna or radome. Under such environmental conditions, the application of a water repellant or the use of non-wetting surfaces makes the surface insufficient because they do not remove particles effectively and, in the case of a high wear and tear, and, in the case of water repellents, have a time-limited treatment cycle. Wash. Additionally, the conventional placement of automotive radar sensors in the vehicle's front grill area, where aging and dusting is significant, affects such water-repellent materials.

According to theoretical and experimental studies, a small amount of moisture can cause a significant performance degradation of millimeter-wave radar sensors. Therefore, it is necessary to keep the surfaces of these sensors free of moisture.

Another industry where maintenance of clean surfaces is of paramount importance is the solar electricity industry, where surfaces on an array of photovoltaic solar panels must remain clean in order to generate electricity efficiently. However, solar energy installations are susceptible to ubiquitous entities that are often overlooked in the field, such as seawater stains, leaves, sand, bird droppings, and deposits of dust, which can significantly reduce the efficiency of solar installations. Recent research shows how large the performance loss is when the soiling of photovoltaic (PV) modules is caused. ( See https://renewablesnow.com/news/dust-pollution-buildup-can-cut-pv-output-by-up-to-35-study-573691/ .) It contains dirt, snow, and other foreign matter on the surface of the PV module that prevents it from reaching. Dirt accumulation is location and weather dependent.

Pollution during the operating life of solar modules causes loss of their power production. The accumulation of dirt is very important because factors that reduce the efficiency of PV systems can make it an unattractive or economically unfeasible alternative energy source.

Depending on the local reality, the loss of PV power production due to pollution ranges from 5.2 to 17%. In extreme cases, higher values may occur (25%). Regular cleaning of the solar modules is therefore essential. Without proper surface cleaning, the performance of a solar power plant and owner's benefit can drop by 15-17% in the long run.

In a sparse, extremely and very dry, sandy climate where cleaning rains are sparse, failure to clean PV panels can cause even greater losses. The solar facility owner or operator can no longer change any configuration characteristics, such as wire resistance, or inverter efficiency. In other words, the dependence on the ratio as a means of cleaning PV panels causes a serious loss of efficiency.

Therefore, there is a need to keep the surfaces on solar cells clean. The use of high-pressure water or steam cleaning techniques for cleaning PV panels is prohibited in order to avoid damage to the outer layer of the panels. Since the rain does not necessarily provide a 100% cleaning effect and depending on the rain and panel angles, some part of the panel may not be completely cleaned, we cannot rely on the rain to effectively clean the PV panels. Additionally, it may not always rain at the right time to clean the PV panels.

There is also a need for an adaptive system capable of adapting to the dynamic conditions (ie, types of interferences) at the transmissive surface that affect the transmissibility through the transmissive surface.

Active flow control actuators (such as synthetic jets, plasma jets, and other types) produce an unstable air jet at one frequency or frequency-range. Unstable jets are much more composed of swirls and other flow patterns, compared to compressed air actuators, fans, blowers and other stable types of air supply, in air transport applications such as heat transfer, mixing, and spray control. It has been shown to have a more efficient structure. ( See http://www.cds.caltech.edu/~murray/courses/cds101/fa04/caltech/collis-etal-pas-2004.pdf .)

Typically, such actuators are used as a means to improve airflow around a bluff body-like shape (airfoil, blades, wind turbine blades, vehicle spoilers, building railings, etc.) and are not used as standalone devices. . Second, until now, their use has been used to deflect air to deal with the air-born phenomenon. A more detailed discussion of actuators can be found in U.S. Patent No. 9,567,017, the entire contents of which are incorporated herein by reference.

Systems and methods are provided for cleaning surfaces through the use of an array or one of actuators to create jets of air or liquid.

In embodiments, the actuators create a local air jet that removes particles directly from the permeable surface. In embodiments where actuators are used on moving vehicles, the local air jet interacts with the airflow passing across the transmissive surface as a result of the vehicle's motion. As a result, at highway speeds, the synergy between the actuator air jet and the incoming air stream further improves the cleaning performance compared to when the permeable surface is exposed only to the actuator air jet or the incoming air stream.

The present invention presents novel ways of using actuators. According to embodiments of the present invention, actuators are used to (1) remove water or other particles to improve optical performance through the transmissive surface; (2) as part of the control feedback loop or mechanically integrated with or attached to the vision sensors; And (3) their temperature, and combined with means for controlling the release angle.

In embodiments, the actuator power amplitude, waveform and frequency are known by environmental factors such as precipitation, water-based and dust type particles, and interference caused to the transmissive surface. In a preferred embodiment, if the vehicle or vision sensor identifies the transmission quality through the transmission surface as insufficient, either activates the cleaning system to clean the transmission surface until the transmission signal quality increases above a predetermined threshold. something to do.

In an exemplary embodiment of the invention, the system creates one or more jets of air to clean one or more surfaces and remove particles and environmental contaminants so that their light and energy transmission properties are maintained under various environmental conditions. And at least one actuator provided for cleaning one or more surfaces that are part of the vehicle.

In one embodiment, the system consists of one actuator. In another embodiment, an array of actuators is used. In embodiments where an array of actuators are used, the actuators are either operated with the same inputs such as voltage, actuation frequency, or require that each actuator be removed from its location on the vehicle, the requirements of the vision sensor to be responsible for cleaning. It can be operated separately from each other to receive different inputs based on the local airflow conditions and the type of particles being used. For example, if the system consists of at least one roof mounted LiDAR and at least one rear camera mounted on a rear vehicle bumper, each actuator will receive different inputs when moving due to the difference in airflow conditions between the roof and the rear bumper. When it is received and stopped, it will receive the same input.

In embodiments, the actuators may include synthetic jet actuators or other active flow control actuators. Actuators may be standalone actuators that deliver air jets to clean the surfaces. In other embodiments, the actuators may be combined with a liquid, which may be water, or, for use in colder climates, preferably with a liquid having a freezing temperature lower than the expected ambient conditions, to provide pressurized air and liquid. . In embodiments, an actuator or actuators are used in combination with heating and cooling elements to change air and/or liquid temperature for applications such as de-icing.

In embodiments, the actuator is operated to create a jet of air having a swirling structure that effectively removes droplets lying on the optical surface. The experiments performed have demonstrated that there is a relationship between the actuation frequency and the droplet size, ie different droplet sizes can be more effectively eliminated with the associated actuation frequencies. In other words, an air jet at a given frequency may be more effective in removing droplets than a stronger air jet at a different frequency.

In a preferred embodiment, to handle multiple environmental conditions, the sensor cleaning system combines airflow and water spray in a manner similar to a standard windshield wiper system, and the microfluidic nozzle sprays water on the windshield to prevent media such as mud and dust. While softening the wipers mechanically remove any residue as well as dry the windshield from water spray. Similarly, the sensor cleaning system combines an air jet and a water spray, as well as the ability to effectively synchronize the two. This efficiency is due to the way synthetic jet actuators are used to create both these “dry” and “wet” modes. The synthetic jet actuator acts as an integral, pump, pressure regulator and nozzle located right next to the optical surface to be cleaned. Water supply is possible using a local small water reservoir that provides water to the actuator by gravity or at low pressure near the surface. Water is supplied to the actuator (released with a cavity, adapter, directly above the optical surface or at a distance from the nozzle). The synthetic jet actuator switches between "dry" and "wet" modes. While the air jet is continuously injected, the switch is enabled by limiting the water supply to the actuator. This is done by controlling the valve of the water container. When switching to "wet" mode, the valve is opened so that water is released from the container and sprayed by a jet of air. Effective spraying depends on several parameters such as the distance (from the synthetic jet actuator nozzle), the waveform and the actuation frequency, at which the water will be sprayed by the air jet.

Further experiments revealed that signal conditioning parameters such as waveform (sine, trapezoid, square), modulation frequency, duty cycle, etc., influence how well the synthetic jet actuator cleans the surface. For example, using a trapezoidal waveform with a steep rising slope provides a burst of air that helps to coalesce small droplets near the actuator nozzle into larger droplets over short distances and time periods. . Coalescence is the key to removing droplets. This is beneficial for cleaning performance because transporting larger droplets across the optical surface is easier compared to removing smaller droplets.

One aspect of the present invention modulates the actuation frequency to affect the type of air jet structures that excite particles on the transmission surface. These structures interact with the particles and the transmissive surface and cause them to vibrate. It has been found that particles such as water droplets are excited by air jet structures at various frequencies based on their structure, density, contact angle, etc.

Actuation frequencies in the range of 50-1500 Hz are droplet diameters between 0.01 mm and 4 mm, representing the sizes of droplets in the range of vehicle spray splash (0.01 mm or fine) to heavy rain (4 mm or coarse) striking the windshield. It has been shown to interact differently with sizes. For example, air jets at 1040 Hz remove 4 mm droplets better than air jets at 360 Hz (both operate using the same actuator, waveform, and voltage). To remove 0.01 mm (fine) droplets, the 360 Hz air jet surpasses the 1040 Hz air jet despite the fact that the 1040 Hz air jet is stronger in that it has a larger velocity.

Also, when comparing a pulse wave modulated (PWM) signal (carrier f=360 Hz modulated f=30 Hz, 50% duty cycle) and a pure sine wave (f=360 Hz), the fact that the former consumes half of the power of the latter. It has been further found that similar droplet removal performance is achieved despite this. It has been found that the more sudden pulses of the air jet tend to promote coalescence between the droplets found right next to the point of contact between the air jet and the permeable surface. Once the droplets coalesce and grow in size, it is easier to transport them faster over a larger distance across the permeable surface.

In embodiments, the system includes at least a power supply unit, a control unit, an actuation unit, a water supply unit, software and packaging. In embodiments, the actuation unit includes heating and cooling elements, actuators, and adapters for controlling the air jet temperature. In embodiments, the water supply unit includes a container, an adapter, an actuator, a conduit for supplying water to or near the permeate surface.

In embodiments, the actuation unit is packaged as a standalone unit. In embodiments in which the actuation unit is used in connection with a vision sensor on a vehicle, the actuation unit may be integrated into the automotive part on the vehicle or may be integrated into the vision sensor as part of its packaging.

In embodiments, the actuators of the system are mounted to the vehicle or sensor enclosures to keep one or more of the following surfaces clean: (1) Cover vision and position sensors (e.g., radar, LiDAR, cameras, etc.) And (2) vision assist devices (eg mirrors and windshields) using actuators mounted on a vehicle (eg, land, sea, and aerial vehicles). In a preferred embodiment, the sensors are dynamically controlled through the use of devices or vision sensor diagnostic codes that warn the cleaning system and instruct it to start or stop operation. In another embodiment, the actuators are controlled by a vehicle electronic control unit (ECU). The ECU can be dedicated to sensor cleaning performance or can be dedicated to other vehicle activities.

Besides vehicles, those skilled in the art will appreciate that the surface that can be cleaned with the actuator can be any surface that requires cleaning to maintain light and energy transmission properties for the device. For example, the surface may be the surface of a PV cell in a solar array.

The surface to be cleaned may have varying degrees of transparency, and may be made of various materials such as glass, polycarbonate, and the like. The surface may serve different purposes, such as a cover to protect the device from environmental conditions, add optical features such as focus, reflection, etc., or may function for aesthetic or styling purposes.

In embodiments where the surface to be cleaned is part of a vehicle, the surface may be a portion external to the vehicle or a surface added to the vehicle. As part of the device, the surface may be a LiDAR lens, a camera lens, a radar antenna lens, a LiDAR radome, a radar radome, a device encasement, or any component that affects the optical performance of the device. The surface may also be the surface of a device that functions for object and environmental conditions detection and recognition, mapping, geolocation, and navigation of the mobile platform. The device may be a sensor, such as a radar, LiDAR, camera, or any other device that uses optical, radio and electromagnetic waves as sensory input or output, or relies on optics as part of its performance, such as an antenna lens.

In embodiments, the system is a camera (i.e., forward, back-up, etc.) that suffers from several issues such as droplet accumulation during rain, freezing, salt, snow accumulation, etc. preventing image clarity at a resolution sufficient to identify objects and drive safely. It is used to clean the permeable surface of.

In embodiments, the system is electrically powered by a power supply (battery) of the platform or through an auxiliary power supply unit.

In embodiments, the system is controlled by a controller that commands various system parts electronically using a program. The program uses inputs provided by the system, externally to the system, or a combination of both. The controller adapts the performance of the system based on the system, vehicle, user preferences, and environmental conditions to achieve the desired performance. Inputs to the system include wind speed and direction, vehicle speed, sensor sensitivity and droplet size. The controller wirelessly records and broadcasts system diagnostic data and system input and output data.

In embodiments, the controller is dedicated to cleaning of multiple vision sensor types (such as LIDAR, radar, and cameras) at different locations across the vehicle (such as the roof front, roof side, front bumper and rear bumper). It provides commands to multiple actuators. Each sensor-dedicated actuation unit is exposed to different particles (such as rain, mud, slush), aerodynamic conditions, and performance requirements to address vision sensor requirements (actuation frequency, waveform, amplitude and timing). Other commands).

The controller provides different commands to each actuator based on the ECU, vision sensor related devices, and the like. In another embodiment, the controller relies on a system program to generate these commands. In this embodiment, the controller receives data from the vehicle and sensors to establish cleaning requirements based on the vehicle, environment, and vision sensing inputs. The controller also provides commands based on geofencing and geospatial legal requirements of the vehicle location. Such requirements dictate the type of object detection range and quality, vehicle speed, visibility and other parameters based on applicable driving methods.

The controller provides an input to the water supply unit, and the actuator synchronizes the amount of water provided with the air jet to create a water spray of the desired density and diffusion and effectively and water-efficiently remove particles from the permeate surface. In embodiments, the controller is configured to control the temperature of the air jet based on particle density (e.g., ice, slush, snow), ambient temperature, and target defreezing time. Provide the data. In another embodiment, the controller is operated according to a preprogrammed lookup table. The sensor cleaning system couples these relationships between environmental and actuation parameters to optimize the cleaning performance of the optical surface. Based on real-time input or a programmed lookup table, the controller and software, in addition to optical-related inputs (e.g. transmission through a transmissive surface), precipitation conditions (e.g. droplet size), driving conditions (e.g. vehicle speed), side wind and other It modifies actuation characteristics such as frequency, amplitude, waveform, etc. in response to environmental parameters.

In embodiments, the sensor cleaning system functions as an enabler for vehicle mounted vision sensors. As such, in a preferred embodiment, the sensor cleaning system is integrated within the packaging of the vision sensor to receive commands from the vision sensor.

In embodiments, the controller includes a user interface through which program settings can be changed.

In one embodiment, a system for cleaning the surface of a vehicle vision sensor comprises a sensor cleaning unit mounted on the vehicle and having at least one actuator configured to direct a fluid jet with the vehicle vision sensor, mounted on the vehicle, and mounted on the vehicle. A sensor cleaning unit sensor having at least one environmental sensor configured to capture adjacent environmental sensor data, receiving environmental sensor data from the sensor cleaning unit sensor and controlling at least one actuator of the sensor cleaning unit based on the received environmental data And a cleaning electronic control unit configured to determine at least one of a driving frequency and a driving amplitude for.

In embodiments, the environmental sensor comprises at least one of an airflow sensor or a precipitation sensor configured to determine an apparent wind speed and wind direction. In embodiments, the precipitation sensor is configured to determine the diameter of raindrop sizes during a precipitation event.

In a preferred embodiment, the cleaning control unit sets a driving frequency in the range of 360 Hz for raindrop diameter sizes of 0.01 mm to 1040 Hz for raindrop diameter sizes of 4 mm. The actuator in embodiments operates using pulse wave modulation and in embodiments comprises a water source connected to the sensor cleaning unit, wherein the cleaning electronic control unit is based on the received environmental data, the sensor cleaning unit. It is further configured to select either water or outside air from the water source for use in the actuator of the.

In an embodiment, a system for cleaning a surface of a vehicle vision sensor includes a sensor cleaning unit mounted on a vehicle and having at least one actuator configured to direct a fluid jet to the vehicle vision sensor and a transmission signal through the vehicle vision sensor transmission surface. A cleaning electronic control unit configured to receive from the vehicle vision sensor the vision sensor transmission surface interference level data indicating the amount of interference of the cleaning electronic control unit, wherein the cleaning electronic control unit comprises: the amount of interference of the transmitted signal exceeds a predetermined threshold. In this case, at least one of a driving frequency and a driving amplitude for controlling at least one actuator of the sensor cleaning unit is determined.

The invention also includes a method for cleaning a surface of a vehicle vision sensor, the method comprising: (1) capturing environmental sensor data in proximity to the vehicle from a sensor cleaning unit sensor mounted on the vehicle; (2) determining, by the cleaning electronic control unit, at least one of a driving frequency and a driving amplitude for controlling at least one actuator of a sensor cleaning unit mounted on the vehicle; And (3) generating a fluid jet by at least one actuator of the sensor cleaning unit to clean the surface of the vehicle vision sensor.

In other embodiments, the present invention includes a system for cleaning the surface of a photovoltaic solar panel, the system being mounted to a peripheral edge of the photovoltaic solar panel and applying a jet of fluid to the photovoltaic solar panel. A sensor cleaning unit having at least one actuator configured to face; A cleaning electronic control unit configured to receive electricity generation efficiency data indicative of disturbance of the photovoltaic panels from a photovoltaic solar panel and a control unit associated with an energy storage measurement device associated with the cleaning system, the cleaning electronic control unit When the amount of production efficiency falls below a predetermined threshold, determine at least one of a driving frequency and a driving amplitude for controlling at least one actuator of the sensor cleaning unit.

In embodiments, the actuator includes at least one heating element to control the temperature of the fluid jet. The actuator may also include an electrically controlled nozzle cover to open or close the nozzle to prevent drainage and contaminants from entering the actuator when not in use.

In embodiments, the actuator is supplied with water that, when combined with a fluid jet, creates a water spray. The actuator may be mounted on or under a motorized plate to remove particles from the transmissive surface that wraps 360 degrees around the vehicle mounted vision sensor. In embodiments the actuator also creates a jet of fluid as it rotates around the perimeter of the permeable surface and the rotating plate moves fluid to locations across the perimeter of the permeable surface facing vision blockage by particles adhering to the permeable surface. It is controlled by an electronic control unit associated with one or more of the vision sensors, the cleaning system or the vehicle system to position the jet.

In embodiments, the actuator is integrated with the vision sensor and the fluid jet is channeled through a transmissive surface that is shaped as a curved surface to cover the vision sensor for aerodynamic, optical, environmental or other reasons.

In embodiments, the sensor cleaning unit comprises two fluid jet nozzles, wherein one water nozzle is located between the two fluid jet nozzles for release of water, so that the fluid jets dispensed from the fluid jet nozzles are It is configured to combine with water from the water nozzle to create a water spray. In embodiments, the two fluid jets are each operated with a different voltage amplitude such that each air jet reaches its maximum amplitude at a different time in an alternating manner.

In embodiments, the flow rate at which water is released through the water nozzle is synchronized with the peak voltage amplitude of the two fluid jets to create a water spray with lateral motion.

Within the scope of the present invention, it is contemplated that the present invention is applicable for use on any surface requiring cleaning to maintain optimal transmittance through the surface. It is also expected that the transmissive surface may be on a mobile platform such as a ground, sea, air or alien vehicle. Transmissive surfaces are a few, but include security and traffic safety vision sensors (cameras), energy evaluation and monitoring vision sensors (LiDAR in wind power areas), manufacturing processes optimization and quality control (e.g. IR for video analysis, Thermal cameras). For example, in addition to use in vehicles and PV cells, the present invention also provides stationary and mobile devices such as sensor stations used for environmental monitoring on Earth, in space, and for moon, Mars and other extraterrestrial expeditions. For use with sensors; For stationary sensors such as speed cameras, immigration vision sensors, security cameras, vision sensors used in industrial processes for monitoring and video analysis; Wearables such as suits and helmets; Car windshield; For vision sensors on glazed surfaces of buildings that are difficult to maintain and access; And it may be applied for the energy harvesting surfaces of the satellite (eg PV foils and sails).

These and other features of the invention are set forth in, or are apparent from, the following detailed description of various exemplary embodiments of the invention.

Features and advantages of the invention will be more fully understood with reference to the following detailed description of exemplary embodiments of the invention when taken in conjunction with the following drawings, wherein:
1 is a schematic diagram illustrating an embodiment of a sensor cleaning system of the present invention used in connection with an automotive vision sensor.
2 is a schematic diagram illustrating an embodiment of a sensor cleaning unit, which is a component of the sensor cleaning system of the present invention.
3A is an illustration of a sensor cleaning unit used for a vision sensor having a curved surface according to an embodiment of the present invention.
3B is an illustration of a sensor cleaning unit used in a vision sensor having a flat surface according to an embodiment of the present invention.
4A, 4B, 4C and 4D illustrate various air and water spray configurations of a sensor cleaning unit when used in a vision sensor having a flat surface according to embodiments of the present invention.
5A and 5B illustrate packaging configurations of a sensor cleaning unit and a vision sensor used in connection with automobiles according to an embodiment of the present invention.
6A, 6B and 6C illustrate a sensor cleaning unit when used in a 360 degree vision sensor according to embodiments of the present invention.
7 is an illustration of sensor cleaning system integrated configurations used in connection with a mobile vehicle according to an embodiment of the present invention.
8 is a schematic illustration of the operation of a sensor cleaning system used in connection with a mobile vehicle according to an embodiment of the present invention.
9A, 9B, 9C, 9D, 9E and 9F illustrate the dependence between the droplet size and actuation frequency using an actuator according to embodiments of the present invention.
10A, 10B, 10C, 10D and 10E illustrate the interaction between air jets and water droplets of various diameters using an actuator according to embodiments of the present invention.
11 is an illustration of a photovoltaic cleaning system used in connection with a photovoltaic panel according to an embodiment of the present invention.
It is emphasized that, according to general convention, various features/elements in the drawings may not be drawn to scale. On the other hand, the dimensions of various features/elements may be arbitrarily expanded or reduced for clarity.

Referring initially to FIG. 1, a schematic diagram illustrating an embodiment of the sensor cleaning system 100 of the present invention is shown. The sensor cleaning system 100 (SCS) is composed of an electronic power supply unit 101 (EPSU), a cleaning electronic control unit 102 (CECU), and a sensor cleaning unit 103 (SCU). The EPSU 101 and CECU 102 provide power and signals to the SCU 103, respectively, to clean the transmission surface 104 of the vision sensor (VS) 105.

For example, in a preferred embodiment where the SCS 100 receives an input from the CECU 102 indicating the need to begin cleaning of the transmissive surface 104, the EPSU adjusts the amount of power to be transmitted to the SCU 103. . The CECU 102 determines what type of signal to output according to an input received from a vehicle electronic control unit (VECU) (not shown) or a VS electronic control unit (VSECU) (not shown).

To illustrate the implementation of the embodiment, in one example, the vehicle is moving at a speed of 50 mph on the highway during heavy rain (drop size of about 4 mm diameter). In order to provide enough time for the vehicle to brake if there is an obstacle in the vehicle's path, the roof mounted LiDAR maintains a predetermined detection distance across a predetermined field of view. If the field of view, the detection distance and the ability to detect objects in general fall below the required threshold (often due to a decrease in signal strength that translates to fewer points on the objects being detected), the electronic control unit (of the vehicle, Vision sensor or cleaning system) instructs the actuator to operate at a predetermined actuation frequency that has been tested and found to be most effective in removing 4 mm droplets.

In another example, heavy rain may no longer fall, but the transmission surface may be covered by a spray splash (about 0.01 mm droplet size) from passing vehicles. A change in droplet size from a previous rainfall event is detected by the sensor and an instruction to change the actuation frequency to another frequency found to be more effective smaller droplets is issued.

To provide power to SCU 103, EPSU 101 may receive power from a vehicle-independent power source, such as a battery or generator, or from a vehicle battery (both not shown). To provide data to the SCU, the CECU receives data from the vehicle electronic control unit (VECU) or the VS electronic control unit (VSECU). The EPSU and CECU can operate a single SCU as shown in FIG. 1, or an array of SCUs (not shown) at the same time.

2 provides details of subsystems including a sensor cleaning unit, as identified in SCU 103. The SCU receives power from the EPSU 240 and data from the CECU 250. The SCU includes an actuator 200, a heating element 210 and a water spray unit 220. In embodiments, the heating element 210 is used to increase the temperature emitted through the nozzle outside the actuator to accelerate the process of defreezing the transmission surface. The actuator 200 includes a drain opening 204 for discharging particles (such as water or melted ice) that have entered the actuator during inactivity. The nozzle cover 203 covers the nozzle 201 when not in operation to prevent contaminants from entering the actuator.

In embodiments, when the SCU is engaged, the EPSU 240 powers the actuator 200 to create an air jet 202 directed to the transmission surface 231 of the vision sensor (VS) 230. Supply. The air jet 202 removes particles from the permeable surface 231. In embodiments, the CECU sends a signal to the SCU to activate the water spray unit 220. In that scenario, the EPSU 240 powers a water spray unit 220 that supplies water to an opening near the actuator 200 through a water supply conduit 221 to create a water spray 222. By providing a water spray 222 to the permeable surface 231, the SCU uses the air jet 202 itself to flush particles such as dirt, mud, ice, etc., from the permeable surface 231 that may not be effectively washed off . By alternating between the water spray 222 and the air jet 202, the SCU can remove both wet and dry particles from the permeable surface, such as the combined function of a conventional vehicle windshield wiper and water spray.

In embodiments (not shown), the SCU includes a pair or more actuators to create an air jet 202 and a water spray 222. CECU 250 controls actuator 200 parameters such as frequency, waveform, duty cycle, on/off, and power amplitude. CECU 250 controls water spray unit 220 parameters such as on/off, and flow rate. The water spray provides water to the water conduit 221 where the coupling between the water and the air jet 202 brings water to the nozzle 201 creating a water spray 222.

The adapter 260 shown as not being used in FIG. 2 is optimal for particle removal on the transmissive surface 231 because the original articulation of the air jet 202 is due to SCU positioning constraints on the transmissive surface 231. It can be used in other embodiments. In such a scenario, the adapter 260 is used to reach the transmissive surface 231 (not shown as being used with the adapter 260) at the optimum angle for the air jet 202a to remove the particles. ) Is attached to the actuator 200 to be redirected. In such embodiments, the angle of the air jet 202a may be modified through channeling through the adapter 260 until an optimum angle is obtained.

In other cases, the adapter 260 is used to influence other parameters of the air jet 202 such as the jet diffusion angle to cover a larger area of the transmission surface 231. The angle of diffusion through the use of the adapter 260 can also be similarly adjusted through the use of channeling of the adapter 260 until an optimum angle is reached.

In embodiments in which a water spray is being created with adapter 260 (not shown), water spray 222a (schematically shown) uses water through conduit 221 and its inner channel as a mixing chamber. It is produced by combining the water and air jets 202a to create a water spray 222a, provided as an adapter, or just like the nozzle 201, just next to its opening.

Turning to FIG. 3A, an embodiment in which the sensor cleaning unit is used in a vision sensor having a curved surface is shown. In embodiments, the transmissive surface 321 of the vision sensor 320 is shaped as a curved surface for aerodynamic, optical, environmental or other purposes. In such an embodiment, the nozzle 301 of the actuator 300 is channeled such that the air jet 310 covers the transmission surface 321 to achieve particle removal across the transmission surface 321. It can also be incorporated into. In embodiments, the actuator 300 is incorporated into the packaging of the vision sensor 320 and its size may be dictated by constraints posed by the sizing of the vision sensor 320. In embodiments (not shown), actuator 300 may be part of a standalone SCU and may not be integrated into vision sensor 320. In embodiments where the actuator and vision sensor share packaging, the actuator is likely to be dedicated to a specific vision sensor. In that case, the CECU and VSECU are the same and the vision sensor directly controls the operation of the cleaning process. In other words, the actuator is part of the vision sensor, and the vision sensor provides power and data to command its operation.

Turning to FIG. 3B, an embodiment in which a sensor cleaning unit is used in a vision sensor having a flat surface is shown. In this embodiment, the actuator 300 is located outside the packaging of the vision sensor 320. In other embodiments (not shown), the actuator 300 may be integrated into the packaging of the vision sensor 320. Moving on to the operation of the actuator 300, the actuator 300 maintains the transparent surface 321 in a particle-free state so that the vision sensor 320 can detect objects in the manner required to keep the vehicle safe. In order to generate air jets 310 and 311. In one embodiment, the particles 350 approach and stick to the transmissive surface 321. In this case, the actuator 300 creates a jet of air 310 through the nozzle 301 that removes the particles 351 by blowing away from the transmission surface. Actuator 300 may be engaged by the SCU based on various environmental factors such as precipitation, aqueous and dust type particles and interference caused to the transmission surface (not shown). In alternative embodiments, actuator 300 may be programmed to actuate in a timed cycle, or in other embodiments a continuous duty cycle.

In an alternative embodiment (not shown) in which the actuator 300 operates in a continuous duty cycle, the actuator 300 creates a jet of air 311 through the nozzle 301. The air jet 311 from the permeable surface 321 to create an air curtain that deflects the particles 352 from reaching the permeable surface 321 so that the particles 352 do not reach the permeable surface 321. It becomes farther away. In this embodiment, the air jet 311 is created by an additional actuator. In such embodiments, each actuator will be oriented differently. One actuator will be directed to the transmissive surface and the second will be directed away from the transmissive surface at an angle of 0-45 degrees.

4A-4D illustrate various configurations of air and water spray configurations of a sensor cleaning unit when used in a vision sensor having a flat surface according to embodiments of the present invention.

In the embodiment shown in Fig. 4A, water is released through the nozzle 401a. The air jet 404a is produced by the actuator 400 through the nozzle 403a. When the air jet 404a is combined with water through the nozzle 401a, it creates a water spray 402a to clean the transmission surface 411 of the vision sensor 410. In embodiments, the air jet 404a is controlled by the CECU to modify the properties of the water spray 402a, such as its diffusion, distance and particle size.

In the embodiment shown in FIG. 4B, water is released through a nozzle 401b, located between the air jets 403b and 405b. Air jets 404b and 406b are created by actuator 400 through nozzles 403b and 405b, respectively. When the air jets 404b and 406b are combined with water through the nozzle 401b, it creates a water spray 402b to clean the transmission surface 411 of the vision sensor 410. In this embodiment, the air jets 404b and 406b are operated with different voltage amplitude and phase angle difference such that each air jet reaches its maximum amplitude at different times in an alternating manner. In an embodiment, the phase angle is in the range of 0 to 180 degrees and the voltage is in the range of 20 to 200 Vrms. In a preferred embodiment, the flow rate at which water is released through the nozzle 401b results in a water spray 402b with a lateral motion 407b shown to improve particle removal ability compared to the absence of a lateral motion component. To provide synchronization with the peak voltage amplitude of one or both of the air jets 404b and 406b.

In the embodiment shown in FIG. 4C, an air jet 404c is created by the actuator 400 through the nozzle 403c to remove particles from the transmission surface 411 of the vision sensor 410. In embodiments, the actuator 400 and its corresponding air jet 404c may be part of a larger array of actuators including the SCU.

In the embodiment shown in FIG. 4D, a water spray 402d is created by the actuator 400 through the nozzle 401d to remove particles from the transmission surface 411 of the vision sensor 410. In this case, water is supplied to the inner part of the actuator 400 (not shown) and is pushed out together with the air discharged through the nozzle 401d. In another embodiment (not shown), water is supplied with an adapter attached to the nozzle 401d. In another embodiment (not shown), water is supplied right next to the nozzle 401d so that the water spray 402d is created by the jet of air passing through the nozzle 401d.

Turning to FIGS. 5A and 5B, embodiments of various packaging configurations of a vision sensor and a sensor cleaning unit used in connection with automobiles according to an embodiment of the present invention are shown. In the embodiment shown in FIG. 5A, the packaging enclosure 530 includes both an actuator 500a and a vision sensor 510a having a transmissive surface 520a. The actuator nozzle 501a is built into the enclosure 530. In this embodiment, the actuator 500a and the vision sensor 510a are designed to work together, where the vision sensor 510a has a transmission surface 520a through the use of the actuator 501a whose navigation performance is below a certain safety threshold. The actuator 500a is commanded through its associated controls hardware and software to determine when cleaning is required.

In the embodiment shown in FIG. 5B, the actuator 500b and the vision sensor 510b are independent of each other in terms of the packaging enclosure. In this embodiment, the actuator adapter 501b is attached to the actuator 500b to direct the air jet 502b to more effectively remove particles from the transmission surface 520b.

6A-6C illustrate a sensor cleaning unit when used in a 360 degree vision sensor according to embodiments of the present invention. In the embodiment shown in FIG. 6A, the actuator 603a is mounted on or under the vision sensor 600a to remove particles from the transmissive surface 610a extending 360 degrees around the vision sensor 600a. In this embodiment, the actuator 603a is composed of multiple nozzles 602a distributed along the circumference of the vision sensor 600a to release the air jets 601a around the entire circumference of the vision sensor 600a. .

In the embodiment shown in FIG. 6B, the actuator 603b is mounted on or under the vision sensor 600b to remove particles from the transmissive surface 610b extending 360 degrees around the vision sensor 600b. In this embodiment, the actuator stack 603b includes several actuators in which the polar nozzle array 602b releases air jets 601b around the entire circumference of the vision sensor 600b.

In the embodiment shown in FIG. 6C, the actuator 603c is mounted on or under the motorized plate 604c to remove particles from the transmission surface 610c extending 360 degrees around the vision sensor 600c. In this embodiment, the actuator 603c creates an air jet 601c through the nozzle 602c as it rotates around the perimeter of the transmission surface 610c. The rotating plate 604c is, in embodiments, a nozzle for creating an air jet 601c at locations across the perimeter of the transmissive surface 610c facing vision blockage by particles adhering to the transmissive surface. It is controlled by CECU, VSECU or VECU to position 602c.

7 is an illustration of sensor cleaning system integrated configurations used in connection with a mobile vehicle according to an embodiment of the present invention. In this embodiment, vehicle 700 may be either an autonomous or driver assisted vehicle. In embodiments, vehicle 700 includes vision sensors 710, 720, 730, 740, 750 (VS); Cleaning electronic control unit 705 (CECU); It is equipped with a vehicle electronic sensor 701 (VES), which is responsible for providing the required input for sensor cleaning purposes to a vehicle electronic control unit 702 (VECU) that is part of the vehicle system (not the cleaning system). In embodiments, VS 710, 720, 730, 740, 750 may utilize vision sensing technologies such as radar, LIDAR, or visible light spectrum such as cameras.

In embodiments, VS 710, 720, 730, 740, 750 are integrated into vehicle exterior surfaces such as front and rear bumpers, doors, wheel covers, roof and hood. In an alternative embodiment, the VS 710, 720, 703, 740, 750 can be installed as standalone installations separate from the exterior of the body, such as a pod installed on the underside of the vehicle or on a roof rack. In an embodiment, a given VS is integrated into the vehicle exterior surfaces and another VS is installed as standalone installations.

In embodiments, the vehicle 700 also includes a sensor cleaning unit 715, 725, 735, 745, 755 (SCU) dedicated to cleaning an individual VS; In embodiments, a sensor cleaning unit sensor 716 (SCUS) including a sensor, such as a camera, precipitation sensor, airflow sensor, etc., provides the CECU required input to command the SCUS. In embodiments, vehicle 700 also includes a vision sensor 721 (VSS) and a vision sensor electronic control unit 722 (VSECU).

Embodiments of the sensor cleaning system shown in FIG. 7 can operate in a variety of configurations. In one embodiment ("Independent System Approach"), the control authority of the cleaning system is independent of vehicle 700 or VS 710, 720, 730, 740, 750. In this case, the CECU 705 receives the data required for cleaning from the SCUS 716. The data received from SCUS 716 includes the size of the area blocked by particles on the transmissive surface. CECU 705 analyzes the data and sends commands such as start/shutoff, voltage amplitude, actuation frequency, duty cycle, and waveform type to the SCU associated with their respective vision sensors at different locations on vehicle 700. It provides an array of 715, 725, 735, 745, 755. According to this embodiment, the CECU 705 commands either a full array of SCUs, a portion of that array, or a single SCU. When controlling more than 1 SCU, the CECU 705 provides different commands to the various SCUs simultaneously depending on parameters such as the type of VS undertaken, the location around the vehicle, and the local airflow conditions the VS is exposed to. .

In one embodiment ("Tier 2 approach"), SCUs 715,725,735,745,755 are each controlled by VS 710,720,730,740,750, which are responsible for cleaning. Each SCU receives commands via the VS system including VSS 721 and VSECU 722. According to this embodiment, the VSS 721 or VS 720 provides the VSECU 722 with the data required for cleaning. The VSECU 722 instructs the dedicated SCU 725. SCU 725 performs a cleaning action and can be stopped once VSS 721 or VS 720 provides input to VSECU 722 that the required vision level or associated performance associated with VS 720 has been achieved. .

In one embodiment (“OEM approach”), the cleaning system is controlled by a vehicle system comprising VES 721 and VECU 702. VECU 702 receives cleaning requests from VES 721. The VECU 702 commands an array of SCUs 715, 725, 735, 745, 755 or one or more of the SCUs 715, 725, 735, 745, 755.

In one embodiment for controlling an array of SCUs (“Hybrid Approach”), an individual or part of the SCU array is subject to one of the approaches discussed above (eg, a standalone system approach, a Tier 2 approach, or an OEM approach). While controlled by, one or more portions of the array are operated by the other approaches discussed above such that the entire array is controlled by at least two of the approaches provided.

8 is a schematic illustration of the operation of a sensor cleaning system used in connection with a mobile vehicle according to an embodiment of the present invention. In this embodiment, the sensor cleaning system adapts the cleaning performance to dynamic vehicle conditions. In this embodiment, a series of external environments, motions, and mechanical inputs such as droplet size 840, travel speed 845, apparent wind speed 850, and object detection state 855 of transmission surface 800 are It is provided to a cleaning electronic control unit 835 (CECU).

CECU 835 provides inputs such as a predetermined frequency trapezoidal waveform 810, a low frequency sine wave 820, and a high frequency sine wave 830 with short rise and long fall, and also provides a vision sensor. Particles 801, 802, or 803, such as droplets of different dimensions, contact angles, and densities, are located at various locations across the transmissive surface 804, 805, 806 of different importance for performance. Additional signal conditioning parameters such as modulation frequency and duty cycle may be included to control one or more sensor cleaning unit actuators 815 to eliminate.

It has been found that the cleaning performance is a function of actuation parameters such as actuation frequency and waveform. Thus, in an embodiment when the control system senses particles of a given size, then the system sends commands for a trapezoidal waveform with a short rise and fall. The shape of the waveform-a sudden increase from no voltage to a peak voltage-converts into a sudden jet of air issued by the actuator. When the air jet hits the permeable surface at high speed in a very short period of time, the droplets located near the area hit by the air jet are excited out of equilibrium and coalesce with neighboring droplets to form larger wet areas.

It has been found that the air jet is more effective in transporting these coalesced wet areas across the permeable surface for longer distances compared to much smaller droplets. It has also been found that different actuation frequencies of the same waveform, such as a pure sine wave, carry better different droplet sizes across the transmissive surface. In a preferred embodiment, pre-designed signals are used. These pre-designed signals are configured to contain a sequence of waveforms at a specific frequency in a frequency range to be customized for a given scenario. For example, a pre-designed signal is initiated by a number of trapezoidal waves to separate and coalesce the droplets to transport the droplets across the transmission surface while reducing the power consumed by the actuator, followed by low frequency sine wave cycles. It may be followed. Once the droplets are removed from the surface, the signal may be changed to pulse width modulation with a duty cycle of 25% as a hold mode, meaning a low power consumption air jet that does not completely remove particles but delays their accumulation.

Table 1 presents experimental data illustrating what is seen on the permeable surface when applying a cleaning cycle. The Y axis represents the evaluation of the disturbance level of the transmission surface. In other words, the cleaning system records (via its sensor) how many permeable surfaces are blocked by water droplets. The X axis is time. Starting from left to right, there is no obstruction on the transmissive surface until the water droplets land on the surface. Once the actuator is applied, the level of disturbance drops, meaning the actuator is removing some of the droplets and cleaning parts of the surface. The curves represent cases where the droplets on the transmission surface are of different sizes. As illustrated by Table 1, the actuator has different effects for droplets of different sizes.

9A, 9B, 9C, 9D, 9E and 9F illustrate the dependence between the actuation frequency and the water droplet size using an actuator according to embodiments of the present invention. 9A, 9B and 9C illustrate a high frequency (1040 Hz) actuator that removes water droplets of 4 mm, 0.1 mm and 0.01 mm diameters, respectively, from the transmissive surface. 9D, 9E and 9F illustrate a low frequency (360 Hz) actuator that removes water droplets of 4 mm, 0.1 mm and 0.01 mm diameters, respectively, from the transmissive surface.

As can be seen in FIGS. 9A-9F, the high frequency actuator has a higher speed, but the actuation frequency has a greater effect on removing droplets of different sizes. Thus, the high frequency actuator is very effective in removing large droplets and less effective in the case of smaller droplets, while the low frequency actuator acts in reverse. Thus, in embodiments, a high frequency is used for the actuator to remove droplets of a larger size (e.g., about 4 mm) while a low frequency is used to remove droplets of a smaller size (e.g., about 0.01 mm). It is used to remove. In embodiments, the intermediate frequencies are selected to remove droplets of medium size (eg, from about 0.01 mm to about 4 mm).

10A, 10B, 10C, 10D and 10E illustrate the interaction between air jets and water droplets of various diameters using an actuator according to embodiments of the present invention. Specifically, FIGS. 10A, 10B, 10C, 10D, and 10E illustrate the interaction between the air jet and 4 mm droplets covering the permeable surface. The initial effect of the air jet causes nearby droplets to coalesce with other droplets in their vicinity.

Further, as illustrated in FIG. 10, using certain waveforms, the coalescence is created where the jet of air initially strikes the optical surface. 10A-10E illustrate actuation over a short amount of time. 10A shows a transmission surface with an actuation of 0.7 seconds. 10B shows the transmissive surface with an actuation of 0.95 seconds. 10C shows the transmissive surface with an actuation of 1.24 seconds. 10D shows the transmission surface with an actuation of 1.4 seconds. 10E shows the transmissive surface with an actuation of 4.51 seconds. As can be seen in Figure 10e, after 4.51 seconds, the droplets coalesced and the surface was cleaned.

11 illustrates a sensor cleaning unit using synthetic jet actuators used with photovoltaic panel 1100. In embodiments, actuators 1110 are mounted to the peripheral edge of photovoltaic solar panel 1100. In one embodiment, the cleaning electronic control unit (not shown) is configured to receive electricity generation efficiency data indicative of obstruction of the surface 1111 of the photovoltaic panels 1100. When the disturbance level reaches a predetermined threshold, the actuators 1110 are initiated to create a jet 1115 that is directed across the surface 1111 of the photovoltaic panel 1100, resulting in dust, pollen from the surface 1111. Clean up obstructions such as, etc.

Claims (18)

As a system for cleaning the surface of a vehicle vision sensor,
A sensor cleaning unit mounted on a vehicle and having at least one actuator configured to direct a fluid jet to the vehicle vision sensor;
A sensor cleaning unit sensor mounted on the vehicle and having at least one environmental sensor configured to capture environmental sensor data in proximity to the vehicle;
A cleaning electronic control configured to receive the environmental sensor data from the sensor cleaning unit sensor and, based on the received environmental data, determine at least one of a driving frequency and a driving amplitude for controlling at least one actuator of the sensor cleaning unit A system comprising a unit. The method of claim 1,
Wherein the environmental sensor comprises at least one of an airflow sensor or a precipitation sensor configured to determine an apparent wind speed and wind direction. The method of claim 2,
Wherein the precipitation sensor is configured to determine a diameter of raindrop sizes during a precipitation event. The method of claim 3,
Wherein the cleaning control unit sets a driving frequency in the range of 360 Hz for raindrop diameter sizes of 0.01 mm to 1040 Hz for raindrop diameter sizes of 4 mm. The method of claim 4,
Wherein the actuator operates using pulse wave modulation. The method of claim 5,
Further comprising a water source (water source) connected to the sensor cleaning unit,
The cleaning electronic control unit is further configured to select, based on the received environmental data, to select to use either water or outside air from the water source for use in the actuator of the sensor cleaning unit. As a system for cleaning the surface of a vehicle vision sensor,
And a sensor cleaning unit mounted on a vehicle and having at least one actuator configured to direct a jet of fluid to the vehicle vision sensor. The method of claim 6,
A cleaning electronic control unit configured to receive from the vehicle vision sensor vision sensor transmission surface interference level data indicating an amount of interference of the transmission signal through the transmission surface of the vehicle vision sensor,
Wherein the cleaning electronic control unit determines at least one of a driving frequency and a driving amplitude for controlling at least one actuator of the sensor cleaning unit when the amount of the disturbance of the transmitted signal exceeds a predetermined threshold. . As a method for cleaning the surface of a vehicle vision sensor,
Capturing environmental sensor data close to the vehicle from a sensor cleaning unit sensor mounted on the vehicle;
Determining, by the cleaning electronic control unit, at least one of a driving frequency and a driving amplitude for controlling at least one actuator of a sensor cleaning unit mounted on the vehicle,
Generating a fluid jet by the at least one actuator of the sensor cleaning unit to clean the surface of the vehicle vision sensor. As a system for cleaning the surface of photovoltaic panels,
A sensor cleaning unit mounted on a peripheral edge of the photovoltaic solar panel and having at least one actuator configured to direct a jet of fluid to the photovoltaic solar panel;
A cleaning electronic control unit configured to receive electricity generation efficiency data indicative of disturbance of the photovoltaic panels from the photovoltaic solar panel and a control unit associated with an energy storage measurement device associated with the cleaning system,
Wherein the cleaning electronic control unit determines at least one of a drive frequency and a drive amplitude for controlling the at least one actuator of the sensor cleaning unit when the amount of production efficiency falls below a predetermined threshold. The method of claim 1,
Wherein the actuator includes at least one heating element to control the temperature of the fluid jet. The method of claim 1,
Wherein the actuator comprises a drainage and an electrically controlled nozzle cover for opening or shutting off the nozzle to prevent contaminants from entering the actuator when not in use. The method of claim 1,
The system, wherein the actuator is supplied with water that, when combined with the fluid jet, creates a water spray. The method of claim 1,
The actuator is mounted on or under a motorized plate to remove particles from the transmissive surface surrounding the vehicle-mounted vision sensor 360 degrees.
The actuator creates a jet of fluid as it rotates around the perimeter of the permeable surface;
The rotating plate includes at least one of the vision sensor, cleaning system or vehicle system to position the fluid jet at locations across the perimeter of the transmissive surface facing vision blockage by particles adhering to the transmissive surface Controlled by an electronic control unit associated with the system. The method of claim 1,
The actuator is integrated with a vision sensor and the fluid jet is channeled through a transmissive surface shaped as a curved surface to cover the vision sensor for aerodynamic, optical, environmental or other purposes. The method of claim 1,
The sensor cleaning unit further comprises two fluid jet nozzles,
One water nozzle is located between the two fluid jet nozzles for release of water, so that the fluid jets dispensed from the fluid jet nozzles are configured to combine with water from the water nozzle to create a water spray. , system. The method of claim 16,
Wherein the two fluid jets are each operated with a different voltage amplitude so that each air jet reaches its maximum amplitude at a different time in an alternating manner. The method of claim 17,
The flow rate at which water is released through the water nozzle is synchronized with the peak voltage amplitude of the two fluid jets to create a water spray with lateral motion.

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